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Copter: create generic vehicle management and move runcam to it

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Andy Piper 2019-11-10 20:13:17 +00:00 committed by Andrew Tridgell
parent 0eddc8b589
commit 93abfdb905
5 changed files with 10 additions and 3 deletions
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1
ArduCopter/APM_Config.h
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@ -49,7 +49,6 @@
//#define OSD_ENABLED DISABLED // disable on-screen-display support //#define OSD_ENABLED DISABLED // disable on-screen-display support
//#define BUTTON_ENABLED DISABLED // disable button support //#define BUTTON_ENABLED DISABLED // disable button support
// features below are disabled by default on all boards // features below are disabled by default on all boards
//#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes //#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link

1
ArduCopter/Copter.cpp
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@ -623,5 +623,6 @@ Copter::Copter(void)
} }
Copter copter; Copter copter;
AP_Vehicle& vehicle = copter;
AP_HAL_MAIN_CALLBACKS(&copter); AP_HAL_MAIN_CALLBACKS(&copter);

6
ArduCopter/Parameters.cpp
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@ -715,6 +715,10 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: Parameters.cpp // @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2), GOBJECT(g2, "", ParametersG2),
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
{ AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&copter, {group_info : AP_Vehicle::var_info} },
AP_VAREND AP_VAREND
}; };
@ -959,8 +963,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(arot, "AROT_", 37, ParametersG2, AC_Autorotation), AP_SUBGROUPINFO(arot, "AROT_", 37, ParametersG2, AC_Autorotation),
#endif #endif
AP_GROUPEND AP_GROUPEND
}; };

2
ArduCopter/Parameters.h
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@ -373,6 +373,8 @@ public:
// 254,255: reserved // 254,255: reserved
k_param_vehicle = 257, // vehicle common block of parameters
// the k_param_* space is 9-bits in size // the k_param_* space is 9-bits in size
// 511: reserved // 511: reserved
}; };

3
ArduCopter/system.cpp
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@ -226,6 +226,9 @@ void Copter::init_ardupilot()
g2.smart_rtl.init(); g2.smart_rtl.init();
#endif #endif
// run all the vehicle initialization routines
init_vehicle();
// initialise AP_Logger library // initialise AP_Logger library
logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void)); logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void));